Sync. with JSBSim

src/FDM/JSBSim/FGState.cpp

@@ -58,7 +58,8 @@ FGState::FGState(FGFDMExec* fdex)
   FDMExec = fdex;
 
   sim_time = 0.0;
-  //dt = 1.0/120.0;
+  dt = 1.0/120.0; // a default timestep size. This is needed for when JSBSim is
+                  // run in standalone mode with no initialization file.
 
   Aircraft     = FDMExec->GetAircraft();
   Propagate    = FDMExec->GetPropagate();

src/FDM/JSBSim/input_output/FGPropertyManager.h

@@ -35,14 +35,9 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#ifdef HAVE_CONFIG_H
-#  include <config.h>
-#endif
-
 #include <string>
 #include <iostream>
-#include <simgear/props/props.hxx>
+#include "simgear/props/props.hxx"
-#include <simgear/math/SGMath.hxx>
 
 #include "FGJSBBase.h"
 

src/FDM/JSBSim/models/FGLGear.cpp

@@ -310,6 +310,19 @@ FGColumnVector3& FGLGear::Force(void)
       RollingForce = ((1.0 - TirePressureNorm) * 30 + vLocalForce(eZ) * BrakeFCoeff) * sign;
       SideForce    = vLocalForce(eZ) * FCoeff;
 
+      // Lag and attenuate the XY-plane forces dependent on velocity. This code
+      // uses a lag filter, C/(s + C) where "C" is the filter coefficient. When
+      // "C" is chosen at the frame rate (in Hz), the jittering is significantly
+      // reduced. This is because the jitter is present *at* the execution rate.
+      // If a coefficient is set to something equal to or less than zero, the
+      // filter is bypassed.
+
+      if (LongForceLagFilterCoeff > 0) RollingForce = LongForceFilter.execute(RollingForce);
+      if (LatForceLagFilterCoeff > 0)  SideForce = LatForceFilter.execute(SideForce);
+
+      if ((fabs(RollingWhlVel) <= RFRV) && RFRV > 0) RollingForce *= fabs(RollingWhlVel)/RFRV;
+      if ((fabs(SideWhlVel) <= SFRV) && SFRV > 0) SideForce *= fabs(SideWhlVel)/SFRV;
+
       // Transform these forces back to the local reference frame.
 
       vLocalForce(eX) = RollingForce*CosWheel - SideForce*SinWheel;
@@ -319,19 +332,6 @@ FGColumnVector3& FGLGear::Force(void)
 
       vForce  = Propagate->GetTl2b() * vLocalForce;
 
-      // Lag and attenuate the XY-plane forces dependent on velocity. This code
-      // uses a lag filter, C/(s + C) where "C" is the filter coefficient. When
-      // "C" is chosen at the frame rate (in Hz), the jittering is significantly
-      // reduced. This is because the jitter is present *at* the execution rate.
-      // If a coefficient is set to something equal to or less than zero, the
-      // filter is bypassed.
-
-      if (LongForceLagFilterCoeff > 0) vForce(eX) = LongForceFilter.execute(vForce(eX));
-      if (LatForceLagFilterCoeff > 0)  vForce(eY) = LatForceFilter.execute(vForce(eY));
-
-      if ((fabs(RollingWhlVel) <= RFRV) && RFRV > 0) vForce(eX) *= fabs(RollingWhlVel)/RFRV;
-      if ((fabs(SideWhlVel) <= SFRV) && SFRV > 0) vForce(eY) *= fabs(SideWhlVel)/SFRV;
-
       // End section for attentuating gear jitter
 
       vMoment = vWhlBodyVec * vForce;
@@ -340,9 +340,14 @@ FGColumnVector3& FGLGear::Force(void)
 
       WOW = false;
       compressLength = 0.0;
+      compressSpeed = 0.0;
 
-      // No wheel conditons
+      // No wheel conditions
-      RollingWhlVel = SideWhlVel = WheelSlip = 0.0;
+      SideWhlVel = WheelSlip = 0.0;
+
+      // Let wheel spin down slowly
+      RollingWhlVel -= 13.0*dT;
+      if (RollingWhlVel < 0.0) RollingWhlVel = 0.0;
 
       // Return to neutral position between 1.0 and 0.8 gear pos.
       SteerAngle *= max(GetGearUnitPos()-0.8, 0.0)/0.2;
@@ -371,6 +376,7 @@ void FGLGear::ComputeRetractionState(void)
     GearUp   = true;
     WOW      = false;
     GearDown = false;
+    RollingWhlVel = 0.0;
   } else if (gearPos > 0.99) {
     GearDown = true;
     GearUp   = false;

src/FDM/JSBSim/models/propulsion/FGElectric.cpp

@@ -94,14 +94,24 @@ double FGElectric::Calculate(void)
 
 string FGElectric::GetEngineLabels(string delimeter)
 {
-  return ""; // currently no labels are returned for this engine
+  std::ostringstream buf;
+
+  buf << Name << " HP (engine " << EngineNumber << ")" << delimeter
+      << Thruster->GetThrusterLabels(EngineNumber, delimeter);
+
+  return buf.str();
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 string FGElectric::GetEngineValues(string delimeter)
 {
-  return ""; // currently no values are returned for this engine
+  std::ostringstream buf;
+
+  buf << HP << delimeter
+     << Thruster->GetThrusterValues(EngineNumber, delimeter);
+
+  return buf.str();
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

src/FDM/JSBSim/models/propulsion/FGPropeller.cpp

@@ -199,6 +199,8 @@ double FGPropeller::Calculate(double PowerAvailable)
   vH(eY) = 0.0;
   vH(eZ) = 0.0;
 
+  vH = Transform()*vH; // Transform rotational momentum to rotated frame (if any)
+
   if (omega > 0.0) ExcessTorque = GearRatio * PowerAvailable / omega;
   else             ExcessTorque = GearRatio * PowerAvailable / 1.0;
 
@@ -206,7 +208,9 @@ double FGPropeller::Calculate(double PowerAvailable)
 
   if (RPM < 1.0) RPM = 0; // Engine friction stops rotation arbitrarily at 1 RPM.
 
-  vMn = fdmex->GetPropagate()->GetPQR()*vH + vTorque;
+  // Transform Torque and momentum prior to this equation, as PQR is used in this
+  // equation and cannot be transformed itself.
+  vMn = fdmex->GetPropagate()->GetPQR()*vH + Transform()*vTorque;
 
   return Thrust; // return thrust in pounds
 }

src/FDM/JSBSim/models/propulsion/FGTurboProp.cpp

@@ -91,7 +91,7 @@ bool FGTurboProp::Load(FGFDMExec* exec, Element *el)
   if (el->FindElement("idlen1"))
     IdleN1 = el->FindElementValueAsNumber("idlen1");
   if (el->FindElement("idlen2"))
-    IdleN2 = el->FindElementValueAsNumber("idlen1");
+    IdleN2 = el->FindElementValueAsNumber("idlen2");
   if (el->FindElement("maxn1"))
     MaxN1 = el->FindElementValueAsNumber("maxn1");
   if (el->FindElement("maxn2"))